Necessary and Sufficient Conditions of Formation-Containment Control of High-Order Multiagent Systems With Observer-Type Protocols
Necessary and Sufficient Conditions of Formation-Containment Control of High-Order Multiagent Systems With Observer-Type Protocols
复制标题
观察者型协议高阶多智能体系统编队遏制控制的充要条件
DOI：
10.1109/tcyb.2020.3037133
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发表时间：
2020-12
影响因子：
11.8
通讯作者：
Tingwen Huang
中科院分区：
文献类型：
--
作者：
Xin Gong;Yukang Cui;Jun Shen;Zhiguang Feng;Tingwen Huang
给出了基于有向图的基于观测器输出反馈协议的高阶线性时不变(LTI)多智能体系统(MASS)编队控制的分析和设计问题。为了扩展状态形成配置的可行性，协议中分别为领导者和跟随者引入了两个结构良好的补偿信号。利用跟随者的补偿信号，实现了引导者编队控制和跟随者遏制控制的解耦。因此，首先建立了一个充要条件，使得可以实现对高阶LTI质量的队形控制。此外，还提出了一种启发式迭代算法来计算控制器增益、观测器增益以及补偿信号。最后，通过两个算例说明了高阶质量的时变编队控制问题，验证了理论结果和算法的有效性和实用性。
The analysis and design problems of formation-containment control for high-order linear time-invariant (LTI) multiagent systems (MASs) on directed graphs with observer-based output-feedback protocols are given in this work. To expand the feasibility of state formation configuration, two well-structured compensation signals are introduced for the leaders and followers in the protocols, respectively. Benefitting from the compensation signal of followers, the decoupling between formation control of leaders and containment control of followers is achieved. Thus, a necessary and sufficient condition is first established such that the formation-containment control for high-order LTI MASs can be achieved. Moreover, a heuristic iterative algorithm is developed to compute the controller gains, observer gains, as well as the compensation signals. Finally, two numerical examples are implemented to illustrate the time-varying formation-containment control of high-order MASs, which shows the validity and practicability of the theoretical results and algorithm.
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